9 citations · 12 across the 11 of their papers we have counts for
12 papers
Robot-Assisted Deployment and Maintenance of Inflatable Modules for Lunar Habitation: A Field Demonstration
Kentaro Uno, Shamistan Karimov, Ashutosh Mishra +5
Long-term human habitation and in-situ development on the Moon open a new era of space utilization. In this context, robots are a key technology for facilitating the construction o…
Distributed Multi Robot Lunar Cargo Transportation via Phase Decomposed Reinforcement Learning
Ashutosh Mishra, Elian Neppel, Shreya Santra +4
Modular reconfigurable robotic systems provide a scalable solution for cooperative surface operations in future lunar missions. However, cooperative cargo transportation remains ch…
Data-Driven Terramechanics Approach Towards a Realistic Real-Time Simulator for Lunar Rovers
Jakob M. Kern, James M. Hurrell, Shreya Santra +3
High-fidelity simulators for the lunar surface provide a digital environment for extensive testing of rover operations and mission planning. However, current simulators focus on ei…
Design and Development of Modular Limbs for Reconfigurable Robots on the Moon
Gustavo H. Diaz, A. Sejal Jain, Matteo Brugnera +4
In this paper, we present the development of 4-DOF robot limbs, which we call Moonbots, designed to connect in various configurations with each other and wheel modules, enabling ad…
MoonBot: Modular and On-Demand Reconfigurable Robot Toward Moon Base Construction
Kentaro Uno, Elian Neppel, Gustavo H. Diaz +8
The allure of lunar surface exploration and development has recently captured widespread global attention. Robots have proved to be indispensable for exploring uncharted terrains,…
Designing for Distributed Heterogeneous Modularity: On Software Architecture and Deployment of MoonBots
Elian Neppel, Shamistan Karimov, Ashutosh Mishra +5
This paper presents the software architecture and deployment strategy behind the MoonBot platform: a modular space robotic system composed of heterogeneous components distributed a…
Design and Development of a Modular Bucket Drum Excavator for Lunar ISRU
Simon Giel, James Hurrell, Shreya Santra +3
In-Situ Resource Utilization (ISRU) is one of the key technologies for enabling sustainable access to the Moon. The ability to excavate lunar regolith is the first step in making l…
Transferable Deep Reinforcement Learning for Cross-Domain Navigation: from Farmland to the Moon
Shreya Santra, Thomas Robbins, Kazuya Yoshida
Autonomous navigation in unstructured environments is essential for field and planetary robotics, where robots must efficiently reach goals while avoiding obstacles under uncertain…
An Agnostic End-Effector Alignment Controller for Robust Assembly of Modular Space Robots
Shamistan Karimov, Elian Neppel, Shreya Santra +2
Modular robots offer reconfigurability and fault tolerance essential for lunar missions, but require controllers that adapt safely to real-world disturbances. We build on our previ…
Multi-Modal Decentralized Reinforcement Learning for Modular Reconfigurable Lunar Robots
Ashutosh Mishra, Shreya Santra, Elian Neppel +4
Modular reconfigurable robots suit task-specific space operations, but the combinatorial growth of morphologies hinders unified control. We propose a decentralized reinforcement le…
Enhancing Autonomous Manipulator Control with Human-in-loop for Uncertain Assembly Environments
Ashutosh Mishra, Shreya Santra, Hazal Gozbasi +2
This study presents an advanced approach to enhance robotic manipulation in uncertain and challenging environments, with a focus on autonomous operations augmented by human-in-the-…
Robust and Modular Multi-Limb Synchronization in Motion Stack for Space Robots with Trajectory Clamping via Hypersphere
Elian Neppel, Ashutosh Mishra, Shamistan Karimov +3
Modular robotics holds immense potential for space exploration, where reliability, repairability, and reusability are critical for cost-effective missions. Coordination between het…